Yes, I firmly believe we will be reunited with those who have died in Christ and entered heaven before us. I often recall King David's words after the death of his infant son: "I will go to him, but he will not return to me" (2 Samuel 12:23). This truth has become even more precious to me since the death of my dear wife, Ruth, a year and a half ago.
And, yes, there will be a vast number of people in heaven, for every person through the ages who has trusted Christ for their salvation will be there. The Bible says that because of Christ's death for us, heaven will be filled with "a great multitude that no one could count, from every nation, tribe, people and language, standing before the throne and in front of the Lamb (Christ)" (Revelation 7:9).
But you shouldn't worry about getting lost, or never finding your loved ones in heaven - not at all. If God brought you together on this earth - out of all the billions of people who live here now - will He be able to bring you together in heaven? Of course.
Never forget: Heaven is a place of supreme joy - and one of its joys will be our reunion with our loved ones. But heaven's greatest joy will be our reunion with Christ, our Savior and Lord. Is your hope and trust in Him?